CN103970023A - Level analysis based ship steering gear equivalence analysis method - Google Patents

Abstract

The invention relates to a level analysis based ship steering gear equivalence analysis method. The level analysis based ship steering gear equivalence analysis method includes: establishing an indicator evaluation system; subjecting detailed indicators to similarity calculation; subjecting layers of indicator weight of the evaluation system to calculation; calculating similarity of the whole system. The level analysis based ship steering gear equivalence analysis method is clear in theory, convenient to operate, capable of being well applied to the equivalence research process of the actual systems and being promoted to other systems and wide in applicability.

Description

A kind of ship steering engine Equivalence analysis method based on step analysis

Technical field

The present invention relates to a kind of ship steering engine Equivalence analysis method based on step analysis.

Background technology

Along with the development of naval vessel cause of modernization, rudder-fin-wing flap jointly controls with its unique advantage and is more and more subject to people's attention.Emulation technology becomes with advantages such as its good economy performance, high safeties the main method that ships rudder-fin-wing flap jointly controls.But whether the performance index of main rudder (fin)/wing rudder (fin) servo-drive system of the physical simulation system of setting up are close with prototype system, are the topics that people relatively pay close attention to always.The only guaranteed servo prototype system that is close to or higher than in performance of main rudder (fin)/wing rudder (fin), the control effect that the rudder-fin-wing flap combined control system that is core with this servo-drive system is so reached is just convincing.Simultaneously, main rudder (fin)/wing rudder (fin) servo-drive system that rudder-fin-wing flap is jointly controlled to physical simulation system is carried out Equivalence analysis, also being development, the important evidence that jointly controls of planning rudder-fin-wing flap, is that additional related department plan and the theoretical foundation of decision-making.All to analyze as an example of digitized analogue system example about the confidence level research method great majority of analogue system at present, and relatively less about the confidence level research of physical simulation system.And due to main rudder/wing rudder servo-drive system and main fin/wing fin servo-drive system in structure with similar in control mode, therefore can be example by main rudder/wing rudder servo-drive system, in conjunction with similarity principle, rudder-fin-wing flap is jointly controlled to physical simulation system and carry out Equivalence analysis, check it whether can correctly characterize prototype system.In core periodical and patent consulting, all do not find to invent therewith at present similar equipment introduction.

Summary of the invention

The object of this patent be to provide a kind of in order to inspection institute better set up main rudder (fin)/wing rudder (fin) servo-drive system that rudder-fin-wing flap jointly controls physical simulation system in the kind of drive and type of drive with the similarity degree of prototype system, to realize the ship steering engine Equivalence analysis method based on step analysis that rudder-fin-wing flap is jointly controlled to the Equivalence analysis of physical simulation system.

The object of the present invention is achieved like this:

1. the ship steering engine Equivalence analysis method based on step analysis, is characterized in that:

(1) set up indicator evaluation system:

First determine destination layer, be main rudder/wing rudder servo-drive system equivalence; The second layer is divided into main rudder servo-drive system Equivalence analysis and wing rudder servo-drive system Equivalence analysis according to the feature of main rudder/wing rudder servo-drive system; In the 3rd layer, under main rudder servo-drive system and wing rudder servo-drive system, be divided into again the number of oscillation, overshoot, steady-state error, rise time, phase delay, six indexs of amplitude error; In the 4th layer, for the number of oscillation, overshoot, steady-state error, rise time four evaluation indexes, respectively from 20 ° of step signals and 20 ° of step signals, 3 °/s, for phase delay, two evaluation indexes of amplitude error,, from 2.0 ° of index amplitudes, cycle 40s carries out Equivalence analysis to it respectively;

(2) specific targets are carried out to similarity calculating:

Main rudder servo-drive system is made up of k key element, formed by l key element with reference to main rudder system, main rudder servo-drive system to reference to there being n similar key element between rudder system, form n similar finite element, the value of each similar finite element is designated as q (u _i), each similar finite element is β to the weighing factor of similar system similarity degree _i, between main rudder servo-drive system and true rudder system, similarity is:

$Q(A,B)=\frac{n}{k+l-n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\β}}_{i}q\left(u_i\right),$

The complement of the similarity to system is calculated, the fuzzy set that prototype system is various features, and the degree of membership of each feature is 1, and each corresponding analogue system feature is all similar to prototype system, k=l=n, $N(\tilde{A},\tilde{B})=1-\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\β}}_i[1-q_i\left(u_i\right)]=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\β}}_{i}q\left(u_i\right);$

(3) each layer of index weights of appraisement system calculated:

(3.1) Judgement Matricies, compares about the importance of a certain criterion in last layer time between two to each element of same level, and structure judgment matrix relatively between two utilizes 1～9 scaling law to represent in deterministic process, and original matrix is:

$\left[\begin{array}{cccccc}1& 1/3& 1/6& 1/2& 2& 2\\ 3& 1& 1/2& 3& 5& 5\\ 6& 2& 1& 4& 7& 7\\ 2& 1/3& 1/4& 1& 4& 4\\ 1/2& 1/5& 1/7& 1/4& 1& 1\\ 1/2& 1/5& 1/7& 1/4& 1& 1\end{array}\right],$

(3.2) carry out consistency check,

The revised matrix of matrix B is X, the optimum consistance judgment matrix that the X matrix that claims following formula minimum is B:

$\min \mathrm{CIC}\left(n\right)=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}|x_{\mathrm{ij}}-b_{\mathrm{ij}}|/n^2+\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}|x_{\mathrm{ij}}{\mathrm{\ω}}_j-{\mathrm{\ω}}_i|/n^2$

$s.t\left\{\begin{array}{c}{x}_{\mathrm{ii}}=1;\\ 1/x_{\mathrm{ji}}=x_{\mathrm{ij}}\∈[b_{\mathrm{ij}}-{\mathrm{db}}_{\mathrm{ij}},b_{\mathrm{ij}}+{\mathrm{db}}_{\mathrm{ij}}]\∩[1/\mathrm{9,9}]\\ (i=1~n,j=i+1~n)\\ 0\≤{\mathrm{\ω}}_k\≤1(k=1~n)\\ \underset{k=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\ω}}_k=1\end{array}\right.$

In formula, objective function CIC (n) is referred to as coincident indicator coefficient function, and d is non-negative parameter, in [0,0.5], chooses;

(3.3) again calculate and be compared the relative weighting of element for this criterion by judgment matrix;

(4) calculate total system similarity.

Beneficial effect of the present invention is:

Jointly control in the Equivalence analysis process of physical simulation system at rudder-fin-wing flap, effectively the related data of analogue system and prototype system is carried out to Analysis on confidence, provide the concrete quantification Equivalence analysis result of each index, and finally obtained the quantification Equivalence analysis result of whole system.

The method theory is clear, and convenient operation can be applied to preferably in the equivalence research process of real system, and can be generalized in other system, and applicability is extensive.

Brief description of the drawings

Fig. 1 is main rudder/wing rudder servo-drive system equivalence assessment indicator system structural drawing;

Embodiment

Below in conjunction with accompanying drawing, patent of the present invention is described in more detail:

Patent of the present invention is carried out equivalence research by utilizing similarity principle and analytical hierarchy process to jointly control physical simulation system to rudder-fin-wing flap.First set up corresponding equivalence assessment indicator system according to the feature of studied physical simulation system, and carried out Equivalence analysis in conjunction with the corresponding data of analogue system and the each index of prototype system.Then utilize analytic hierarchy process principle to determine the weight size of each index in appraisement system, in computation process for can retain better expert to judge information, adopt a kind of new matrix consistance modification method, and determined optimum solution in conjunction with genetic algorithm.Rudder-fin-wing flap of finally setting up by calculative determination jointly controls the confidence level of physical simulation system for prototype system.

1, set up indicator evaluation system.

In conjunction with main rudder/wing rudder servo-drive system equivalence assessment indicator system structural drawing (Fig. 1), the main rudder/wing rudder servo-drive system that rudder-fin-wing flap is jointly controlled to physical simulation system is carried out equivalence research, whether similarly to prototype system studies its indices.According to the feature of user's request and system itself, set up the equivalence assessment indicator system of main rudder/wing rudder servo-drive system.From every dynamic indicator of system, one by one the servo-drive system of main rudder, wing rudder is investigated, and the equivalence assessment indicator system of sophisticated systems.

The concrete process of establishing of appraisement system is: first determine and be main rudder/wing rudder servo-drive system equivalence by destination layer (ground floor); The second layer is divided into main rudder servo-drive system Equivalence analysis and wing rudder servo-drive system Equivalence analysis according to the feature of main rudder/wing rudder servo-drive system; In the 3rd layer, under main rudder servo-drive system and wing rudder servo-drive system, be divided into again the number of oscillation, overshoot, steady-state error, rise time, phase delay, six indexs of amplitude error; In the 4th layer, for the number of oscillation, overshoot, steady-state error, rise time four evaluation indexes, respectively from 20 ° of step signals and 20 ° of step signals (3 °/s) two indexs are studied.For phase delay, two evaluation indexes of amplitude error,, from 2.0 ° of index amplitudes, cycle 40s carries out Equivalence analysis to it respectively.

2, specific targets are carried out to similarity calculating.

Jointly control main rudder servo-drive system in physical simulation system as example (A represents by system) taking rudder-fin-wing flap, suppose that it is made up of k key element, formed by l key element with reference to main rudder system (B represents by system), main rudder servo-drive system to reference to there being n similar key element between rudder system, form n similar finite element, the value of each similar finite element is designated as q (u _i).Each similar finite element is β to the weighing factor of similar system similarity degree _i, between main rudder servo-drive system and true rudder system, similarity can be defined as: $Q(A,B)=\frac{n}{k+l-n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\β}}_{i}q\left(q_i\right).$

In order to verify the feasibility of its equivalence assessment, the complement that is exactly the similarity of system to " distance " between system is calculated.Prototype system is regarded the fuzzy set of various features as, and the degree of membership of each feature is 1, and each corresponding analogue system feature is all similar to prototype system, k=l=n.Therefore have it is deformed into as equation $1-Q(A,B)=1-\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\β}}_{i}q\left(u_i\right).$ Due to β _inormalized, so: $1-Q(A,B)=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\β}}_i[1-q\left(u_i\right)].$ The right of above-mentioned equation is exactly the weighting hamming distance of analogue system and frame of reference, according to the meaning of fuzzy mathematics approach degree, and (because β _inormalized) have: known similarity is larger, and the weighting hamming distance of analogue system and frame of reference is less, and approach degree is larger, and vice versa.Therefore, say that in certain meaning similarity is exactly the confidence level that replaces the analogue system in the corresponding characteristic of similar finite element, therefore the similarity analysis method that this patent adopts has credibility.

Be calculated as example with the 3rd layer of index similarity, result of calculation is as follows:

Main rudder servo-drive system number of oscillation similarity is: 1 × 0.5+1 × 0.5=1

Main rudder servo-drive system overshoot similarity is: 1 × 0.5+1 × 0.5=1

Main rudder servo-drive system steady-state error similarity is: 1 × 0.5+1 × 0.5=1

Main rudder servo-drive system rise time similarity is: 0.1212 × 0.5+0.9944 × 0.5=0.5578

Main rudder servo-drive system phase delay similarity is: 0.5667

Main rudder servo-drive system amplitude hysteresis similarity is: 0.4962

Wing rudder servo-drive system number of oscillation similarity is: 1 × 0.5+1 × 0.5=1

Wing rudder servo-drive system overshoot similarity is: 1 × 0.5+1 × 0.5=1

Wing rudder servo-drive system steady-state error similarity is: 1 × 0.5+1 × 0.5=1

Wing rudder servo-drive system rise time similarity is: 0.1897 × 0.5+0.9963 × 0.5=0.5930

Wing rudder servo-drive system phase delay similarity is: 0.3585

Wing rudder servo-drive system amplitude hysteresis similarity is: 0.4000

3, each layer of index weights of appraisement system calculated

This patent has adopted analytical hierarchy process to calculate evaluation index weight.In this patent main rudder servo-drive system equivalence appraisement system, the weight calculation of each index substantially can be divided into following four steps and carries out for this reason:

(1) Judgement Matricies.In inferior about last layer to each element of same level, the importance of a certain criterion compares between two, and structure compares judgment matrix between two.In deterministic process, utilize 1～9 scaling law to represent, specifically as shown in table 1, original matrix is as follows.

$\left[\begin{array}{cccccc}1& 1/3& 1/6& 1/2& 2& 2\\ 3& 1& 1/2& 3& 5& 5\\ 6& 2& 1& 4& 7& 7\\ 2& 1/3& 1/4& 1& 4& 4\\ 1/2& 1/5& 1/7& 1/4& 1& 1\\ 1/2& 1/5& 1/7& 1/4& 1& 1\end{array}\right]$

(2) carry out consistency check.Consistance comprises absolute consistency (or crash consistency) and ordinal consistency.So-called absolute consistency refers in judgment matrix A, if meet a _ij=a _ika _jk(i, j, k=1,2 ..., n) claim that A is absolute consistency matrix (or crash consistency matrix), has a simultaneously _ij=W _i/ W _j(i, j, k=1,2 ..., n)

AW＝nW ①

Sequence consistance refers to: if factor first is more important than factor second, factor second is more important than factor third, and factor first should be more important than factor third.And consistency check index C.I.: wherein n is the exponent number of judgment matrix A, and λ max is the maximum characteristic root of judgment matrix A.Calculate consistance ratio C.R.:

wherein R.I. is mean random coincident indicator, is the correction factor of C.I..R.I. value is as shown in table 2.In the time of C.R.<0.1, think that the consistance of judgment matrix is acceptable.

This patent adopts a kind of new conforming method of correction judgment matrix, to retain better Primary Judgement Matrix information.

The revised matrix of hypothesis matrix B is X, the optimum consistance judgment matrix that the X matrix that claims following formula minimum is B:

$\min \mathrm{CIC}\left(n\right)=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}|x_{\mathrm{ij}}-b_{\mathrm{ij}}|/n^2+\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}|x_{\mathrm{ij}}{\mathrm{\&omega;}}_j-{\mathrm{\&omega;}}_i|/n^2;$

$s.t\left\{\begin{array}{c}{x}_{\mathrm{ii}}=1;\\ 1/x_{\mathrm{ji}}=x_{\mathrm{ij}}\&Element;[b_{\mathrm{ij}}-{\mathrm{db}}_{\mathrm{ij}},b_{\mathrm{ij}}+{\mathrm{db}}_{\mathrm{ij}}]\&cap;[1/\mathrm{9,9}]\\ (i=1~n,j=i+1~n)\\ 0\&le;{\mathrm{\&omega;}}_k\&le;1(k=1~n)\\ \underset{k=1}{\overset{n}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_k=1\end{array}\right.;$

In formula, objective function CIC (n) is referred to as coincident indicator coefficient function, and d is non-negative parameter, can in [0,0.5], choose.The majorized function of above formula is not easy to adopt conventional method to solve, and solves therefore adopt genetic algorithm to be optimized.In weights sequences is calculated, do not exist and do not meet consistency problem because matrix dimension is less than three-dimensional time, therefore consider the simplicity of calculating and the validity of calculating, in the time that judgment matrix dimension is less than three-dimensional, 1. employing formula carries out the calculating of sequencing weight; In the time that judgment matrix dimension is more than or equal to three-dimensional, 3. 2. employing formula carry out the calculating of consistency check, matrix element correction and the sequencing weight of judgment matrix with formula.

Be calculated as example (for the 4th layer of index in appraisement system, be mainly the response condition of system under comparison varying input signal, therefore that weight can be thought is equal, be respectively 0.5,0.5) with the 3rd layer of index weights.After the 3rd layer of similar finite element of physical simulation system and prototype system calculates, need to carry out the weight calculation between similar finite element, result of calculation is as follows:

Main rudder servo system control performance weights: the second layer relatively, the number of oscillation, overshoot, steady-state error, rise time, phase angle error and amplitude error belong to one group.3. 2. employing formula calculate revised judgment matrix with formula:

$\left[\begin{array}{cccccc}1& 0.3333& 0.1667& 0.5000& 2& 2\\ 3& 1& 0.5000& 3& 5& 5\\ 6& 2& 1& 4& 7& 7\\ 2& 0.3333& 0.2500& 1& 4& 4\\ 0.2500& 0.2000& 0.1429& 0.2500& 1& 1\\ 0.5000& 0.2000& 0.1429& 0.2500& 1& 1\end{array}\right]$

CR=0.0204<0.1, so evaluating matrix has satisfactory consistency.

(3) again calculate and be compared the relative weighting of element for this criterion by judgment matrix.

The weight of the 3rd layer of main rudder servo system control performance is: 0.0817,0.2562,0.4253,0.1434,0.0467,0.0467.

The weight that in like manner, can obtain wing rudder servo system control performance is: 0.102,0.302,0.334,0.128,0.062,0.072.

The weight of main rudder and wing rudder is: 0.3333,0.6667.

4, total system similarity is calculated

Table three is depicted as relevant similar finite element parameter comparison sheet and similarity result of calculation.This patent, according to set up main rudder servo-drive system equivalence assessment indicator system, successively carries out Equivalence analysis to appraisement system from top to bottom.While wherein system being carried out to equivalence assessment, carry out according to computation sequence from bottom to top.According to the correlation parameter of main rudder/wing rudder servo-drive system and prototype machine, ask for the similar finite element size of corresponding index.Taking the 3rd layer of index in main rudder servo-drive system equivalence assessment indicator system as example, carry out corresponding confidence level and calculated.Comprise the similarity calculating and this layer index weight calculation with respect to upper strata index of lower floor's index with respect to this layer of index in computation process.

The second layer and system-wide similarity are calculated and weight calculation is respectively:

Main rudder servo-drive system similarity:

0.102×1+0.302×1+0.334×1+0.128×0.5578+0.0062×0.5667+0.072×0.4962＝0.8486

Wing rudder servo-drive system similarity:

0.102×1+0.302×1+0.334×1+0.128×0.593+0.062×0.3585+0.072×0.4＝0.8449

Calculate according to step 3, main rudder servo-drive system and wing rudder servo-drive system with respect to the weight size of ground floor index are: 0.3333,0.6667.

The similarity of finally trying to achieve main rudder/wing rudder servo-drive system is:

0.3333×0.8486+0.6667×0.8449=0.8461

That is to say, main rudder/wing rudder servo-drive system is compared with prototype machine, and its equivalence is 84.61%.Gu method can realize and rudder-fin-wing flap is jointly controlled to physical simulation system carry out equivalence research described in known patent of the present invention.

Table 1 reciprocity 1-9 scale table

Table 2 mean random coincident indicator R.I.

The relevant similar finite element parameter comparison sheet of table 3 and similarity result of calculation

Claims (1)

1. the ship steering engine Equivalence analysis method based on step analysis, is characterized in that:

(1) set up indicator evaluation system:

First determine destination layer, be main rudder/wing rudder servo-drive system equivalence; The second layer is divided into main rudder servo-drive system Equivalence analysis and wing rudder servo-drive system Equivalence analysis according to the feature of main rudder/wing rudder servo-drive system; In the 3rd layer, under main rudder servo-drive system and wing rudder servo-drive system, be divided into again the number of oscillation, overshoot, steady-state error, rise time, phase delay, six indexs of amplitude error; In the 4th layer, for the number of oscillation, overshoot, steady-state error, rise time four evaluation indexes, respectively from 20 ° of step signals and 20 ° of step signals, 3 °/s, for phase delay, two evaluation indexes of amplitude error,, from 2.0 ° of index amplitudes, cycle 40s carries out Equivalence analysis to it respectively;

(2) specific targets are carried out to similarity calculating:

Main rudder servo-drive system is made up of k key element, formed by l key element with reference to main rudder system, main rudder servo-drive system to reference to there being n similar key element between rudder system, form n similar finite element, the value of each similar finite element is designated as q (u _i), each similar finite element is β to the weighing factor of similar system similarity degree _i, between main rudder servo-drive system and true rudder system, similarity is:

The complement of the similarity to system is calculated, the fuzzy set that prototype system is various features, and the degree of membership of each feature is 1, and each corresponding analogue system feature is all similar to prototype system, k=l=n,

(3) each layer of index weights of appraisement system calculated:

(3.1) Judgement Matricies, compares about the importance of a certain criterion in last layer time between two to each element of same level, and structure judgment matrix relatively between two utilizes 1～9 scaling law to represent in deterministic process, and original matrix is:

(3.2) carry out consistency check,

The revised matrix of matrix B is X, the optimum consistance judgment matrix that the X matrix that claims following formula minimum is B:

In formula, objective function CIC (n) is referred to as coincident indicator coefficient function, and d is non-negative parameter, in [0,0.5], chooses;

(3.3) again calculate and be compared the relative weighting of element for this criterion by judgment matrix;

(4) calculate total system similarity.